CN111906664A - Robot is polishing end effector under water and robot system of polishing under water - Google Patents
Robot is polishing end effector under water and robot system of polishing under water Download PDFInfo
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- CN111906664A CN111906664A CN202010929285.2A CN202010929285A CN111906664A CN 111906664 A CN111906664 A CN 111906664A CN 202010929285 A CN202010929285 A CN 202010929285A CN 111906664 A CN111906664 A CN 111906664A
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- 238000005498 polishing Methods 0.000 title claims abstract description 167
- 239000012636 effector Substances 0.000 title claims abstract description 54
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 96
- 238000007789 sealing Methods 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 12
- 239000002699 waste material Substances 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 239000012071 phase Substances 0.000 description 39
- 239000007789 gas Substances 0.000 description 36
- 238000000034 method Methods 0.000 description 7
- 230000003139 buffering effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 3
- 238000009423 ventilation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000007792 gaseous phase Substances 0.000 description 2
- 239000007791 liquid phase Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007517 polishing process Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 229910001651 emery Inorganic materials 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to the technical field of underwater polishing, and particularly discloses a robot underwater polishing end effector, which comprises: the polishing device comprises a polishing device, a power device and a force control device, wherein the power device is connected with the polishing device, the force control device is connected with the power device, and the force control device is also used for being connected with a robot; the power device can provide power support for the grinding device; the force control device can provide force control when the polishing device polishes an underwater workpiece to be processed, and can feed back cutting force data to the robot; the polishing device can form a gas phase to polish underwater workpieces to be processed, wherein the gas phase moves in the same direction as the polishing mechanism in the polishing device. The invention also discloses an underwater polishing system of the robot. The robot underwater polishing end effector improves underwater polishing efficiency and polishing quality.
Description
Technical Field
The invention relates to the technical field of underwater polishing, in particular to a robot underwater polishing end effector and a robot underwater polishing system comprising the same.
Background
In the construction and use processes of underwater large-scale equipment and facilities such as dams, bridges, nuclear power cooling containers and the like, structural damages such as cracks and scratches can be generated, if the structural damages are not removed, the water continuously erodes the structure, the cracks can be enlarged, the service life of the facilities is influenced, and the cracks of the facilities need to be polished and removed regularly. And the underwater environment is complex and is not suitable for manual polishing in many cases.
In an underwater environment, due to water body resistance, polishing power loss is extremely high, and a polishing process has high requirements on cutting linear velocity. Too low a cutting speed may affect the efficiency and quality of the sanding, even resulting in an inability to sand. In addition, in the polishing process, a large amount of polishing waste materials can be generated, and the polishing waste materials can pollute water quality.
Disclosure of Invention
The invention provides a robot underwater polishing end effector and a robot underwater polishing system comprising the same, and solves the problem of low underwater polishing efficiency in the related technology.
As a first aspect of the present invention, there is provided a robot underwater sanding end effector, comprising: the polishing device comprises a polishing device, a power device and a force control device, wherein the power device is connected with the polishing device, the force control device is connected with the power device, and the force control device is also used for being connected with a robot;
the power device can provide power support for the grinding device;
the force control device can provide force control when the polishing device polishes an underwater workpiece to be processed, and can feed back cutting force data to the robot;
the polishing device can form a gas phase to polish underwater workpieces to be processed, wherein the gas phase moves in the same direction as the polishing mechanism in the polishing device.
Further, the grinding device includes: the polishing mechanism comprises a polishing mechanism shell, a shell cover plate and a polishing mechanism, wherein the shell cover plate is connected with the polishing mechanism shell, the polishing mechanism is positioned in a cavity defined by the polishing mechanism shell and the shell cover plate, the polishing mechanism can expose out of the polishing mechanism shell, the polishing mechanism is connected with the power device, a gas phase inlet and a mixed phase outlet are respectively arranged on the polishing mechanism shell,
the gas phase inlet is used for entering gas, and the moving direction of the gas from the gas phase inlet to the mixed phase outlet in the cavity is the same as the rotating direction of the polishing mechanism;
the mixed phase outlet can discharge the waste materials polished by the polishing mechanism after being mixed with the liquid and the gas.
Furthermore, the grinding mechanism shell is provided with a buffering hairbrush at one side exposed out of the grinding mechanism.
Furthermore, the polishing mechanism is connected with the power device through a transmission shaft, and a bearing seat are arranged at the joint of the transmission shaft and the polishing mechanism; the bearing seat is positioned on the outer side of the grinding mechanism and connected with the shell cover plate; the bearing is connected with the bearing seat;
a mechanical sealing sleeve is arranged on the outer side of the transmission shaft and connected with the grinding mechanism shell, and a mechanical seal is arranged between the mechanical sealing sleeve and the transmission shaft;
and waterproof sealing layers are arranged between the bearing seat and the outer shell cover plate, between the outer shell cover plate and the grinding mechanism shell and between the grinding mechanism shell and the mechanical sealing sleeve.
Further, the grinding mechanism comprises a grinding wheel.
Further, the power plant includes: motor housing, motor, shaft coupling and motor housing apron, motor housing with grinding machanism shell connects, motor housing apron with motor housing connects and forms the motor and hold the chamber, the motor is located the motor holds the intracavity, the output of motor passes through the shaft coupling with grinding machanism connects.
Further, the motor housing cover plate and the motor housing as well as the motor housing and the grinding mechanism housing are all provided with waterproof sealing layers.
Further, the force control device includes: outer axle, power accuse shell, power accuse unit and power accuse mounting disc are controlled to power, power accuse shell with motor housing connects, power accuse unit is located in the power accuse shell, the one end of power accuse unit is passed through the power accuse mounting disc sets up motor housing is last, the other end of power accuse unit is connected the outer axle of power accuse, the outer axle of power accuse can stretch out the power accuse shell with the ring flange of robot is connected, the power accuse unit can with robot communication connects.
Further, a waterproof sealing layer is arranged between the force control shell and the motor shell.
As another aspect of the present invention, there is provided a robot underwater sanding system, comprising: the robot underwater polishing end effector comprises a robot, a filter, a water pump, an air pump and the robot underwater polishing end effector, wherein the robot is connected with a force control device of the robot underwater polishing end effector, the air pump is connected with a polishing device of the robot underwater polishing end effector, and the water pump is connected with the polishing device of the robot underwater polishing end effector through the filter.
The robot underwater polishing end effector provided by the invention is arranged on a robot and can perform polishing operation underwater, and a gas phase is formed in the polishing device, so that a polishing mechanism in the polishing device can work in a semi-gas environment, the resistance of water during underwater polishing can be reduced, the polishing efficiency of the polishing mechanism is effectively improved, and the robot underwater polishing end effector performs constant force control on the polishing force, so that the polishing operation has higher polishing efficiency and polishing quality. Therefore, the robot underwater polishing end effector provided by the embodiment of the invention has the advantages of high automation degree, high polishing efficiency, high quality and environmental friendliness.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic overall structural diagram of the robot underwater sanding end effector provided by the invention.
Fig. 2 is a partially cut-away schematic view of the robot underwater sanding end effector provided by the invention.
Fig. 3 is another partially cut-away schematic view of the robot underwater sanding end effector provided by the present invention.
Fig. 4 is a sectional schematic view of the grinding mechanism provided by the present invention.
Fig. 5 is a sectional schematic view of a housing of a grinding mechanism provided by the present invention.
Fig. 6 is a schematic structural diagram of the robot underwater polishing system provided by the invention.
Fig. 7 is a flowchart illustrating the operation of the robot underwater sanding end effector provided by the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present embodiment, a robot underwater end effector is provided, and fig. 1 is a schematic view of an overall structure of a robot underwater end effector 16 provided according to an embodiment of the present invention, as shown in fig. 1, including: the grinding device comprises a grinding device 100, a power device 200 and a force control device 300, wherein the power device 200 is connected with the grinding device 100, the force control device 300 is connected with the power device 200, and the force control device 300 is also used for being connected with a robot;
the power device 200 can provide power support for the grinding device 100;
the force control device 300 can provide force control when the polishing device 100 polishes an underwater workpiece to be processed, and can feed back cutting force data to the robot;
the polishing device 100 can form a gas phase therein to polish the underwater workpiece to be processed, wherein the moving direction of the gas phase is the same as the rotating direction of a polishing mechanism in the polishing device.
The robot underwater polishing end effector provided by the embodiment of the invention is arranged on a robot and can perform polishing operation underwater, and a gas phase is formed in the polishing device, so that a polishing mechanism in the polishing device can work in a semi-gas environment, the resistance of water during underwater polishing can be reduced, the polishing efficiency of the polishing mechanism is effectively improved, and the robot underwater polishing end effector performs constant force control on the polishing force, so that the polishing operation has higher polishing efficiency and polishing quality. Therefore, the robot underwater polishing end effector provided by the embodiment of the invention has the advantages of high automation degree, high polishing efficiency, high quality and environmental friendliness.
Specifically, as shown in fig. 1 to 6, the sanding device 100 includes: the polishing mechanism comprises a polishing mechanism shell 3, a shell cover plate 4 and a polishing mechanism 8, wherein the shell cover plate 4 is connected with the polishing mechanism shell 3, the polishing mechanism 8 is positioned in a cavity enclosed by the polishing mechanism shell 3 and the shell cover plate 4, the polishing mechanism 8 can expose the polishing mechanism shell 3, the polishing mechanism 8 is connected with the power device 200, the polishing mechanism shell 3 is respectively provided with a gas phase inlet 12 and a mixed phase outlet 11,
the gas phase inlet 12 is used for entering gas, and the moving direction of the gas in the cavity from the gas phase inlet to the mixed phase outlet is the same as the rotating direction of the grinding mechanism;
the mixed phase outlet 11 can discharge the waste materials polished by the polishing mechanism after being mixed with the liquid and the gas.
In some embodiments, the grinding mechanism 8 comprises a grinding wheel.
Specifically, in order to prevent the grinding mechanism 8 from damaging the workpiece to be processed, the grinding mechanism housing 3 is provided with a buffer brush 13 on the side exposed out of the grinding mechanism 8.
Specifically, the grinding mechanism 8 is connected with the power device 200 through a transmission shaft 25, and a bearing 21 and a bearing seat 6 are arranged at the connection position of the transmission shaft 25 and the grinding mechanism 8; the bearing seat 6 is positioned on the outer side of the grinding mechanism 8 and is connected with the shell cover plate 4; the bearing 21 is connected with the bearing seat 6;
a mechanical sealing sleeve 23 is arranged on the outer side of the transmission shaft 25, the mechanical sealing sleeve 23 is connected with the grinding mechanism shell 3, and a mechanical seal 15 is arranged between the mechanical sealing sleeve 23 and the transmission shaft 25;
the bearing seat 6 with between the shell apron 4, shell apron 4 with between the grinding machanism shell 3 and grinding machanism shell 3 with all set up waterproof sealing layer between the mechanical seal sleeve 23.
In the embodiment of the present invention, the grinding mechanism 8 is described as an example of a grinding wheel.
During processing, the rotation direction of the grinding wheel is clockwise in fig. 5, the lower part of the grinding wheel is in contact with the surface to be processed of the workpiece to be processed, and the grinding wheel is slightly higher than the bottom end surface (including the height of the buffering hairbrush 13) of the grinding mechanism shell 3. The buffering hairbrush 13 mainly has the function of preventing the lower end surface of the actuator from colliding with a workpiece to be processed to damage the processed workpiece, and the arrangement of the buffering hairbrush 13 can ensure that external water flow can normally pass through. The gas phase inlet 12 is arranged on the right half part of the grinding mechanism shell 2, specifically on the reverse extension line of the cutting speed during grinding wheel machining, and the mixed phase outlet 11 is arranged on the left half part of the grinding mechanism shell 3. The inner surface of the shell 3 of the polishing mechanism right below the mixed phase outlet 11 has 90-degree arc transition, so that an inner cavity flow field is ensured not to generate overlarge turbulence. Except for the mixed phase outlet 11 and the gas phase inlet 12, the inner surface of the shell 3 of the grinding mechanism is similar to the shape of the grinding wheel, a certain gap is kept, liquid phase is not easy to enter the gap due to the blockage of the gas phase, the possibility that the liquid phase flows around the grinding wheel is reduced, and the grinding efficiency is improved.
It should be understood that, in order to ensure that the motor 10 in the power device does not enter water, as shown in fig. 3 and 4, the dynamic sealing mode at the motor end of the grinding mechanism housing 3 adopts mechanical sealing, in order to protect the right end bearing 21 from entering water, an O-ring 24 is arranged at the left side of the right end bearing 21, and waterproof sealing layers are arranged at all housing joints including the bearing seat 6 and the grinding mechanism housing cover plate 4, the grinding mechanism housing cover plate 4 and the grinding mechanism housing 3, and between the grinding mechanism housing 3 and the mechanical sealing sleeve 23.
As shown in fig. 6, the gas phase inlet 12 of the robot underwater sanding end effector 16 in the embodiment of the present invention is connected to the gas pump 19 through an external pipe, the mixed phase outlet 11 is connected to the filter 18 through an external pipe, and the filter 18 is connected to the water pump 20. Since the whole system works underwater, the air pump 19 should be arranged on water or carry a compressed air source, put into a waterproof housing and arranged under water in a sealing way. The water pump 20 should be sealed in a waterproof housing.
It should be understood that fig. 6 is an exemplary drawing, and the robot 17, the filter 18, the air pump 19 and the water pump 20 in fig. 6 are not limited to the type and model shown in the drawing, and the invention is not limited thereto, and may be selected according to the needs.
Specifically, the power plant 200 includes: motor housing 5, motor 10, shaft coupling 14 and motor housing apron 26, motor housing 5 with grinding machanism shell 3 is connected, motor housing apron 26 with motor housing 5 connects and forms the motor and holds the chamber, motor 10 is located the motor holds the intracavity, the output of motor 10 passes through shaft coupling 14 with grinding machanism 8 connects.
It should be understood that the output of the motor 10 is connected to the drive shaft 25 via the coupling 14.
Specifically, waterproof sealing layers are arranged between the motor shell cover plate 26 and the motor shell 5 and between the motor shell 5 and the grinding mechanism shell 3.
Specifically, the force control device 300 includes: outer axle 1 of force control, force control shell 2, force control unit 7 and force control mounting disc 9, force control shell 2 with motor housing 5 connects, force control unit 7 is located in force control shell 2, force control unit 7's one end is passed through force control mounting disc 9 sets up on motor housing 5, force control unit 7's the other end is connected outer axle 1 of force control, outer axle 1 of force control can stretch out force control shell 2 with robot 17's ring flange is connected, force control unit 7 can with robot 17 communication connection.
It will be appreciated that a water tight seal is provided between the force control housing 2 and the motor housing 5.
As shown in fig. 3, the dynamic seal between the force control outer shaft 1 and the force control outer housing 2 adopts a double O-ring 22 sealing mode. The force control unit 7 includes, but is not limited to, the type and kind shown in the figure, so the arrangement of the power and control lines (air pipe, water pipe or electric wire, etc.) for force control is not shown in the figure. And a waterproof sealing layer is arranged between the force control shell 2 and the motor shell 5.
In some embodiments, the force control unit 7 can be implemented by using ACF111-04 of Ferrobotics, inc.
The fluid flowing out from the mixed phase outlet 11 is a gas-liquid-solid three-phase mixture, and is filtered by the filter 18 to be a gas-liquid two-phase fluid, so that the cavitation problem of accessories of the water pump 20 is considered, and gas-liquid mixed pumps such as a screw pump, a diaphragm pump, a vane pump and the like can be selected as power sources.
When the robot underwater polishing end effector provided by the embodiment of the invention normally works, the surrounding liquid can form a stable flow field flowing to the interior of the shell 3 of the polishing mechanism, so that the complete collection of polishing waste can be ensured. In general, the gas generated from the gas phase inlet 12 should flow entirely to the mixed phase outlet 11. Otherwise, the gas brings the polishing waste out of the robot underwater polishing end effector to pollute the surrounding water body, and the polishing waste collection capacity of the robot underwater polishing end effector is reduced. Operation with the end effector opening up, and excessive ventilation should be avoided. The flow at the mixed phase outlet 11 should not be too small and the flow at the gas phase inlet 12 should not be too large. When guaranteeing that the waste material of polishing is collected completely, should make the gas flow of gaseous phase entry as far as possible to guarantee that the volume fraction of inner chamber gaseous phase is as far as possible, make the in-process emery wheel of polishing have higher efficiency of polishing.
When polishing surfaces of different shapes, different polishing surfaces can correspond to different opening areas of the end effector, thereby influencing the flow at the mixed phase outlet 11, and the flow at the mixed phase outlet determines the maximum value of the flow at the gas phase inlet 12. So that different gas flows at the gas inlet 12 need to be controlled when polishing different shaped surfaces.
According to the above working conditions and referring to the working flow chart shown in fig. 7, the specific working process of the robot underwater polishing end effector comprises the following steps:
a robot 17 carrying the robot underwater sanding end effector moves the sanding mechanism 8 over the surface to be machined. The water pump 20 is started to pump water inwards from the grinding mechanism shell 3, the flow sensor detects the water flow speed, a stable flow field flowing to the inner side of the grinding mechanism shell 3 is formed by the water body outside the grinding mechanism shell 3, the air pump 19 is started to ventilate the grinding mechanism shell 3 after the water pump 20 is started and the stable water flow field is formed, and the motor 10 is started. After the volume fraction of the gas phase in the shell 3 of the polishing mechanism is stable, the sensor detects a flow value, the ventilation volume is adjusted until the flow value reaches a reasonable value, the force control is started, the robot controls the end effector to contact with the workpiece to start grinding, meanwhile, the ventilation volume is adjusted in real time according to the flow value fed back by the sensor, and the force control unit 7 feeds back the cutting force data to the robot 17 to perform constant force control on the cutting force.
It should be noted that the installation position of the flow sensor is the position of the mixed phase outlet 11 and slightly outside the four sides of the opening of the grinding mechanism housing 3.
As another embodiment of the present invention, there is provided a robot underwater sanding system, as shown in fig. 6, including: the robot comprises a robot 17, a filter 18, a water pump 20, an air pump 19 and the robot underwater polishing end effector 16, wherein the robot 17 is connected with a force control device of the robot underwater polishing end effector 16, the air pump 19 is connected with a polishing device of the robot underwater polishing end effector 16, and the water pump 20 is connected with the polishing device of the robot underwater polishing end effector through the filter.
The robot underwater polishing system provided by the embodiment of the invention adopts the robot underwater polishing end effector, can perform polishing operation underwater, can enable a polishing mechanism in the polishing device to work in a semi-gas environment due to the formation of a gas phase in the polishing device, can reduce the resistance of water during underwater polishing, effectively improves the polishing efficiency of the polishing mechanism, and ensures that the polishing operation has higher polishing efficiency and polishing quality due to the constant force control of the robot underwater polishing end effector on the polishing force. Therefore, the robot underwater polishing system provided by the embodiment of the invention has the advantages of high automation degree, high polishing efficiency, high quality and environmental friendliness.
For the specific working principle of the robot underwater polishing system provided by the embodiment of the present invention, reference may be made to the foregoing specific description of the robot underwater polishing end effector, and details are not described here.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A robot underwater sanding end effector, comprising: the polishing device comprises a polishing device, a power device and a force control device, wherein the power device is connected with the polishing device, the force control device is connected with the power device, and the force control device is also used for being connected with a robot;
the power device can provide power support for the grinding device;
the force control device can provide force control when the polishing device polishes an underwater workpiece to be processed, and can feed back cutting force data to the robot;
the polishing device can form a gas phase to polish underwater workpieces to be processed, wherein the gas phase moves in the same direction as the polishing mechanism in the polishing device.
2. The robotic underwater sanding end effector of claim 1, wherein the sanding device includes: the polishing mechanism comprises a polishing mechanism shell, a shell cover plate and a polishing mechanism, wherein the shell cover plate is connected with the polishing mechanism shell, the polishing mechanism is positioned in a cavity defined by the polishing mechanism shell and the shell cover plate, the polishing mechanism can expose out of the polishing mechanism shell, the polishing mechanism is connected with the power device, a gas phase inlet and a mixed phase outlet are respectively arranged on the polishing mechanism shell,
the gas phase inlet is used for entering gas, and the moving direction of the gas from the gas phase inlet to the mixed phase outlet in the cavity is the same as the rotating direction of the polishing mechanism;
the mixed phase outlet can discharge the waste materials polished by the polishing mechanism after being mixed with the liquid and the gas.
3. The robotic underwater sanding end effector of claim 2, wherein the sanding mechanism housing is provided with a bumper brush on a side exposed from the sanding mechanism.
4. The robot underwater sanding end effector of claim 2, wherein the sanding mechanism is connected with the power device through a transmission shaft, and a bearing seat are arranged at the connection position of the transmission shaft and the sanding mechanism; the bearing seat is positioned on the outer side of the grinding mechanism and connected with the shell cover plate; the bearing is connected with the bearing seat;
a mechanical sealing sleeve is arranged on the outer side of the transmission shaft and connected with the grinding mechanism shell, and a mechanical seal is arranged between the mechanical sealing sleeve and the transmission shaft;
and waterproof sealing layers are arranged between the bearing seat and the outer shell cover plate, between the outer shell cover plate and the grinding mechanism shell and between the grinding mechanism shell and the mechanical sealing sleeve.
5. The robotic underwater sanding end effector as claimed in claim 2, wherein the sanding mechanism includes a grinding wheel.
6. The robotic underwater sanding end effector of claim 2, wherein the power device includes: motor housing, motor, shaft coupling and motor housing apron, motor housing with grinding machanism shell connects, motor housing apron with motor housing connects and forms the motor and hold the chamber, the motor is located the motor holds the intracavity, the output of motor passes through the shaft coupling with grinding machanism connects.
7. The robotic underwater sanding end effector of claim 6, wherein a water tight seal is provided between the motor housing cover plate and the motor housing and between the motor housing and the sanding mechanism housing.
8. The robotic underwater sanding end effector of claim 6, wherein the force control device comprises: outer axle, power accuse shell, power accuse unit and power accuse mounting disc are controlled to power, power accuse shell with motor housing connects, power accuse unit is located in the power accuse shell, the one end of power accuse unit is passed through the power accuse mounting disc sets up motor housing is last, the other end of power accuse unit is connected the outer axle of power accuse, the outer axle of power accuse can stretch out the power accuse shell with the ring flange of robot is connected, the power accuse unit can with robot communication connects.
9. The robotic underwater sanding end effector as claimed in claim 8, wherein a water tight seal is provided between the force control housing and the motor housing.
10. A robotic underwater sanding system, comprising: the robot underwater polishing end effector comprises a robot, a filter, a water pump, an air pump and the robot underwater polishing end effector as claimed in any one of claims 1 to 9, wherein the robot is connected with a force control device of the robot underwater polishing end effector, the air pump is connected with a polishing device of the robot underwater polishing end effector, and the water pump is connected with the polishing device of the robot underwater polishing end effector through the filter.
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| CN202010929285.2A CN111906664B (en) | 2020-09-07 | 2020-09-07 | Underwater polishing end effector of robot and underwater polishing system of robot |
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| CN202010929285.2A CN111906664B (en) | 2020-09-07 | 2020-09-07 | Underwater polishing end effector of robot and underwater polishing system of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114734350A (en) * | 2022-03-23 | 2022-07-12 | 深圳市智能机器人研究院 | Pneumatic grinding and polishing device |
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| CN111906664B (en) | 2024-08-20 |
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